Robotic cleaner with air jet assembly

ABSTRACT

A robotic cleaner may include a body having a top wall, a bottom wall, and a sidewall extending between the top wall and the bottom wall, a suction motor, and at least one air jet assembly configured to encourage generation of a vortex between the body, a surface to be cleaned, and a vertical surface extending from the surface to be cleaned.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit of U.S. ProvisionalApplication Ser. No. 63/330,076 filed on Apr. 12, 2022, entitled RoboticCleaner with Air Jet Assembly and is continuation-in-part of U.S.application Ser. No. 16/987,801 filed on Aug. 7, 2020, entitled RoboticCleaner with Air Jet Assembly, which claims the benefit of U.S.Provisional Application Ser. No. 62/884,303 filed on Aug. 8, 2019,entitled Robotic Vacuum with Air Jet Assembly, each of which are fullyincorporated herein by reference.

TECHNICAL FIELD

The present disclosure generally relates to surface cleaningapparatuses, and more particularly, to a robotic cleaner configured togenerate an air jet.

BACKGROUND INFORMATION

The following is not an admission that anything discussed below is partof the prior art or part of the common general knowledge of a personskilled in the art.

A surface cleaning apparatus may be used to clean a variety of surfaces.Some surface cleaning apparatuses include a rotating agitator (e.g.,brush roll). One example of a surface cleaning apparatus includes avacuum cleaner which may include a rotating agitator and a suctionmotor. Non-limiting examples of vacuum cleaners include robotic vacuums,multi-surface robotic cleaners (e.g., a robotic cleaner capable ofgenerating a vacuum and performing a mopping function), upright vacuumcleaners, canister vacuum cleaners, stick vacuum cleaners, and centralvacuum systems. Another type of surface cleaning apparatus includes apowered broom which includes a rotating agitator (e.g., a brush roll)that collects debris, but does not include a vacuum source.

Within the field of robotic/autonomous cleaning devices, there are arange of form factors and features that have been developed to meet arange of cleaning needs. However, certain cleaning applications remain achallenge. For example, cleaning along vertical surfaces (e.g., alongwalls or windows) and within corners may be difficult for roboticcleaning devices. Effectively cleaning along such vertical surfaceswhile also being capable of reaching into corners raises numerousnon-trivial design issues as well as navigational complexities to avoidrobotic cleaners getting stuck/obstructed.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features advantages will be better understood by readingthe following detailed description, taken together with the drawingswherein:

FIG. 1 is a top perspective view of a robotic cleaner, consistent withembodiments of the present disclosure.

FIG. 2 is a side view of the robotic cleaner of FIG. 1 , consistent withembodiments of the present disclosure.

FIG. 3 is a top view of the robotic cleaner of FIG. 1 , consistent withembodiments of the present disclosure.

FIG. 4 is front view of the robotic cleaner of FIG. 1 , consistent withembodiments of the present disclosure.

FIG. 5 is a bottom view of the robotic cleaner of FIG. 1 , consistentwith embodiments of the present disclosure.

FIG. 6 is a perspective view of an example ducting system capable ofbeing used with the surface cleaning apparatus of FIG. 1 , consistentwith embodiments of the present disclosure.

FIG. 7 is a cross-sectional view of a portion of a robotic cleaner thatincludes the ducting system of FIG. 6 , consistent with embodiments ofthe present disclosure.

FIG. 8 is a cross-sectional view of a robotic cleaner that includes theducting system of FIG. 6 , consistent with embodiments of the presentdisclosure.

FIG. 9A is a side view of a plurality of example of nozzles that may beused with air jet assemblies, consistent with embodiments of the presentdisclosure.

FIG. 9B is a perspective view of the nozzles of FIG. 9A, consistent withembodiments of the present disclosure.

FIG. 10A is a top view of a plurality of example nozzles that may beused with air jet assemblies, consistent with embodiments of the presentdisclosure.

FIG. 10B is a bottom view of the nozzles of FIG. 10A, consistent withembodiments of the present disclosure.

FIG. 11A is a bottom view of a plurality of example nozzles that may beused with air jet assemblies, consistent with embodiments of the presentdisclosure.

FIG. 11B is a perspective side view of the nozzles of FIG. 11A,consistent with embodiments of the present disclosure.

FIG. 12 is a front view of a robotic cleaner, consistent withembodiments of the present disclosure.

FIG. 13 is a top view of the robotic cleaner of FIG. 12 , consistentwith embodiments of the present disclosure.

FIG. 14 is a bottom perspective view of a portion of a robotic cleanerthat includes a fan assembly, consistent with embodiments of the presentdisclosure.

FIG. 15A is a magnified view of a portion of an example of the roboticcleaner of FIG. 14 having a nozzle attachment, consistent withembodiments of the present disclosure.

FIG. 15B shows a perspective view of the robotic cleaner of FIG. 15A,wherein the robotic cleaner includes a plurality of nozzle attachments,consistent with embodiments of the present disclosure.

FIG. 16 is a magnified view of a portion of a robotic cleaner having anair jet assembly that includes a nozzle attachment, consistent withembodiments of the present disclosure.

FIG. 17A is a perspective view of a vent that may be used as a componentof an air jet assembly, consistent with embodiments of the presentdisclosure.

FIG. 17B is a perspective view of a portion of a robotic cleaner havingthe vent of FIG. 17A, consistent with embodiments of the presentdisclosure.

FIG. 18 is a schematic view of a robotic cleaner that includes a ductingsystem, consistent with embodiments of the present disclosure.

FIG. 19 is a flow chart of one example of an algorithm for determiningwhen to generate an air jet using a corresponding air jet assembly,consistent with embodiments of the present disclosure.

FIG. 20 is a schematic example of a robotic cleaner, consistent withembodiments of the present disclosure.

FIG. 21 is a schematic top view of an example of a robotic cleaner,consistent with embodiments of the present disclosure.

FIG. 22 is a schematic side view of the robotic cleaner of FIG. 21 ,consistent with embodiments of the present disclosure.

FIG. 23 is a perspective view of an example of a robotic cleaner,consistent with embodiments of the present disclosure.

FIG. 24 is another perspective view of the robotic cleaner of FIG. 23 ,consistent with embodiments of the present disclosure.

FIG. 25 is a perspective view of an example of the robotic cleaner ofFIG. 23 having a portion removed therefrom, consistent with embodimentsof the present disclosure.

FIG. 26 is a magnified perspective view of the robotic cleaner of FIG.25 , consistent with embodiments of the present disclosure.

FIG. 27 is another magnified perspective view of the robotic cleaner ofFIG. 25 , consistent with embodiments of the present disclosure.

FIG. 28 is a perspective view of an example robotic cleaner of FIG. 23having a portion removed therefrom, consistent with embodiments of thepresent disclosure.

FIG. 29 is a magnified perspective view of the robotic cleaner of FIG.28 , consistent with embodiments of the present disclosure.

FIG. 30 is a flow chart of an example of a method, consistent withembodiments of the present disclosure.

FIG. 31 is a flow chart of an example of a method, consistent withembodiments of the present disclosure.

FIG. 32 is a flow chart of an example of a method, consistent withembodiments of the present disclosure.

FIG. 33 is a perspective view of an example of a robotic cleaner,consistent with embodiments of the present disclosure.

FIG. 34 is a top view of the robotic cleaner of FIG. 33 having a portionremoved therefrom, consistent with embodiments of the presentdisclosure.

FIG. 35 is a top schematic view of a robotic cleaner, consistent withembodiments of the present disclosure.

FIG. 36 is a top schematic view of an example of the robotic cleaner ofFIG. 35 , consistent with embodiments of the present disclosure.

FIG. 37 is a top schematic view of another example of the roboticcleaner of FIG. 35 , consistent with embodiments of the presentdisclosure.

FIG. 38A is a perspective view of an example of a robotic cleaner,consistent with embodiments of the present disclosure.

FIG. 38B shows a top view of the robotic cleaner of FIG. 38A, consistentwith embodiments of the present disclosure.

FIG. 38C shows a side view of the robotic cleaner of FIG. 38A,consistent with embodiments of the present disclosure.

FIG. 39 is a perspective view of the robotic cleaner of FIG. 38A havingportions removed therefrom for clarity, consistent with embodiments ofthe present disclosure.

FIG. 40 is a magnified perspective view of a portion of the roboticcleaner of FIG. 38A having portions removed therefrom for clarity,consistent with embodiments of the present disclosure.

FIG. 41 is a perspective view of a nozzle, consistent with embodimentsof the present disclosure.

FIG. 42A is a cross-sectional perspective view of the nozzle of FIG. 41, consistent with embodiments of the present disclosure.

FIG. 42B is a magnified perspective view of a portion of the nozzle ofFIG. 42A, consistent with embodiments of the present disclosure.

FIG. 43 is a perspective view of the nozzle of FIG. 41 , consistent withembodiments of the present disclosure.

The drawings included herewith are for illustrating various examples ofarticles, methods, and apparatuses of the teaching of the presentspecification and are not intended to limit the scope of what is taughtin any way.

DETAILED DESCRIPTION

The present disclosure is generally directed to a robotic cleaner. Therobotic cleaner includes a body, an agitator chamber extending along anunderside of the body, a suction motor configured to draw air into theagitator chamber, and an air jet assembly coupled to the body. The airjet assembly is configured to shape and direct air passing therethrough,generating an air jet. The air jet is configured to agitate debrisadjacent to and/or adhered on a vertical surface (e.g., a wall or otherobstacle extending from a floor), edge (e.g., a drop off, such as astaircase), and/or a corner defined at an intersection of two verticalsurfaces. The air jet can generally be described as being configured todislodge debris from one or more surfaces located outside of a movementpath of the agitator chamber, increasing an effective cleaning width ofthe robotic cleaner. Such a configuration may allow the robotic cleanerto clean one or more surfaces that would be otherwise difficult for therobotic cleaner to clean as a result of, for example, a size and/orshape of the robotic cleaner.

The air jet assembly may include a nozzle having a nozzle inlet and anozzle exit. The nozzle inlet may be fluidly coupled to one or more ofan exhaust of the suction motor and/or a powered fan assembly such thatthe exhaust of the suction motor and/or the powered fan assembly causesa positive pressure to be generated at the nozzle exit. The nozzle inletand the nozzle exit may be configured to have a different geometryand/or size. For example, the nozzle inlet may be larger than the nozzleexit such that a velocity of air flowing through the nozzle increases.

Additionally, or alternatively, the air jet assembly may include a vent.The vent may include one or more louvers configured shape and/or directair passing through the vent into an air jet. The vent may be positionedsuch that the generated air jet extends beyond an outer perimeter of therobotic cleaner. Such a configuration may allow the generated air jet tobe incident on a vertical surface proximate to the robotic cleaner.

Although the present disclosure specifically references floor-basedrobotic cleaning devices, this disclosure is not necessarily limited inthis regard. Aspects and embodiments disclosed herein are equallyapplicable to hand held cleaning devices.

As used herein, the term “air jet assembly” may generally refer to oneor more components, wherein one or more of the one or more componentsare configured to shape, direct, and/or introduce a velocity change to(e.g., increase a velocity of) air moving therethrough. In someinstances, a portion of the air jet assembly extends/projects from abody of a robotic cleaner.

As used herein, the term “air jet” may generally refer to an airflowthat has been modified (e.g., shaped, directed, and/or caused to undergoto a velocity change) by flowing through an air jet assembly. The termair jet is not intended to limit the air jet assembly to a particularshape or configuration.

As generally referred to herein, the term surface to be cleanedgenerally refers to a surface on which a robotic cleaning apparatustravels, such as a floor. As may be appreciated, one or more air jetassemblies may also allow the robotic cleaning apparatus to clean asurface that extends transverse to the surface to be cleaned such as awall or other obstacle.

Various apparatuses or processes will be described below to provide anexample of an embodiment of each claimed invention. No embodimentdescribed below limits any claimed invention and any claimed inventionmay cover processes or apparatuses that differ from those describedbelow. The claimed inventions are not limited to apparatuses orprocesses having all of the features of any one apparatus or processdescribed below or to features common to multiple or all of theapparatuses described below. It is possible that an apparatus or processdescribed below is not an embodiment of any claimed invention. Anyinvention disclosed in an apparatus or process described below that isnot claimed in this document may be the subject matter of anotherprotective instrument, for example, a continuing patent application, andthe applicants, inventors or owners do not intend to abandon, disclaimor dedicate to the public any such invention by its disclosure in thisdocument.

Referring to FIGS. 1-5 , an example of a robotic cleaner 100 (e.g., arobotic vacuum cleaner), consistent with embodiments of the presentdisclosure, is shown and described. Although a particular embodiment ofa robotic cleaner is shown and described herein, the concepts of thepresent disclosure may apply to other types robotic cleaners, including,for example, robotic multi-surface cleaners and robotic mops.

The robotic cleaner 100 includes a housing (or body) 110 with a frontside 112, and a back side 114, left and right sides 116 a, 116 b, anupper side (or top surface) 118, and a lower side or underside (orbottom surface) 120. In some instances, a bumper 111 may be movablycoupled to the housing 110 such that the bumper 111 extends around atleast a portion of the housing 110 (e.g., a front portion and/or fronthalf of the housing 110). The top surface 118 of the housing 110 mayinclude controls 102 (e.g., buttons) to initiate certain operations,such as autonomous cleaning, spot cleaning, and docking and indicators(e.g., LEDs) to indicate operations, battery charge levels, errors, andother information. The robotic cleaner 100 may further include one ormore air jet assemblies (not shown), which are discussed in furtherdetail below. The air jet assemblies may be fluidly coupled to one ormore air ducts or outlets of the robotic cleaner 100 (e.g., clean airoutlets, air outlet ports, fan outlets, clean air exhaust ducts, orexhaust ducts).

In the illustrated example embodiment, and as shown in FIG. 5 , thehousing 110 further includes a suction conduit 128. The suction conduit128 includes an agitator chamber 101 having an opening 127 on theunderside 120 of the housing 110. The agitator chamber 101 includes(e.g., defines) a dirty air inlet (not shown) that is fluidly coupled toa suction motor (not shown) of the robotic cleaner 100. The opening 127can be described as defining an open end of the suction conduit 128through which air is drawn by the suction motor. At least a portion ofthe agitator chamber 101 may be defined by the housing 110. For example,the agitator chamber 101 may be defined by a cavity of the housing 110,wherein the cavity includes the opening 127.

A debris collector 119, such as a removable dust bin, is located in orintegrated with the housing 110. The debris collector 119 can bedisposed within the suction conduit 128 at a position between theagitator chamber 101 and the suction motor. As such, at least a portionof debris entrained within air flowing into the debris collector 119 maybe collected within the debris collector 119.

The robotic cleaner 100 may also include one or more clean air outlets121. The one or more clean air outlets 121 may be fluidly coupled to thesuction conduit 128. For example, the suction motor may be disposed atlocation along the suction conduit 128 that is between the one or moreclean air outlets 121 and the debris collector 119. Additionally, oralternatively, one or more powered fan assemblies may be fluidly coupledto the one or more clean air outlets 121. For example, the suction motormay be fluidly coupled to a first inlet of the clean air outlets 121 andthe fan assembly may be fluidly coupled to a second inlet of the cleanair outlets 121. As shown, the one or more clean air outlets 121 can bedisposed on the underside 120 of the housing 110.

The suction conduit 128 may include any suitable combination of rigidconduits, flexible conduits, chambers, and/or other features that maycooperate to direct a flow of air through the robotic cleaner 100.Optionally, one or more filters or filtration members, for example ahigh efficiency particulate air (HEPA) filter, can be configured suchthat air traveling through the suction conduit 128 passes through theone or more filters prior to the one or more clean air outlets 121. Theone or more clean air outlets 121 may be configured to fluidly connectto one or more air jet assemblies.

In one embodiment, the robotic cleaner 100 may also include one or morecavities on the underside 120 of the housing 110. The one or morecavities include one or more fan outlets. The one or more fan outletsare fluidly coupled to a secondary air inlet (not shown) such that anair path extends from the secondary air inlet to the one or more fanoutlets. The air path may include any suitable combination of rigidconduits, flexible conduits, chambers, and/or other features that maycooperate to direct a flow of air through the robotic cleaner. The oneor more fan outlets may be may be configured to fluidly connect to oneor more air jet assemblies.

The one or more air jet assemblies may include one or more nozzlesconfigured to generate air jets when air passes therethrough, asdescribed in further detail herein. The nozzle may be configured to bearticulable such that an angle formed between a surface to be cleanedand an air jet generated by the nozzle can be adjusted. In someinstances, the nozzles may be self-articulating (e.g., in response toactuation of one or more articulation motors controlled by, for example,a controller 136).

The robotic cleaner 100 may include a rotating agitator 122 (e.g., amain brush roll). The rotating agitator 122 rotates about asubstantially horizontal axis to urge debris towards the debriscollector 119. The rotating agitator 122 is at least partially disposedwithin the agitator chamber 101 of the suction conduit 128. The rotatingagitator 122 may be coupled to a motor 123, such as an AC or DC motor,to impart rotation to the rotating agitator 122 by way of, for example,one or more drive belts, gears, and/or any other driving mechanism.

The rotating agitator 122 may have bristles, fabric, or other cleaningelements, or any combination thereof around the outside of the agitator122. The rotating agitator 122 may include, for example, strips ofbristles in combination with strips of a rubber or elastomer material.The rotating agitator 122 may also be removable to allow the rotatingagitator 122 to be cleaned more easily and allow the user to change thesize of the rotating agitator 122, change type of bristles on therotating agitator 122, and/or remove the rotating agitator 122 entirelydepending on the intended application. The robotic cleaner 100 mayfurther include a bristle strip 126 on an underside of the housing 110and adjacent a portion of the suction conduit 128 (e.g., along aperiphery of the opening 127). The bristle strip 126 may includebristles having a length sufficient to at least partially contact thesurface to be cleaned. The bristle strip 126 may also be angled, forexample, towards the agitator chamber 101 of the suction conduit 128.

The robotic cleaner 100 may also include several different types ofsensors. For example, the robotic cleaner 100 may include one or moreforward obstacles sensors 140 (FIG. 4 ) configured to detect obstaclesin a travel path of the robotic cleaner 100. The one or more forwardobstacle sensors 140 may be integrated with and/or separate from thebumper 111. For example, the one or more forward obstacles sensors 140may be configured to cooperate with the bumper 111 such that signalsemitted from the forward obstacle sensors 140 can pass through at leasta portion of the bumper 111. The one or more forward obstacle sensors140 may include one or more of infrared sensors, ultrasonic sensors,time-of-flight sensors, a camera (e.g., a stereo or monocular camera),and/or any other sensor.

One or more bump sensors 142 (e.g., optical switches behind the bumper)detect contact of the bumper 111 with obstacles during operation. One ormore wall sensors 144 (e.g., an infrared sensor directed laterally to aside of the housing) detect a side wall when traveling along a wall(e.g., wall following). Cliff sensors 146 a-d (e.g., infrared sensors,time-of-flight sensors) can be located adjacent a periphery of theunderside 120 of the housing 110 and are configured to detect theabsence of a surface on which the robotic cleaner 100 is traveling(e.g., staircases or other drop offs).

The controller 136 is communicatively coupled to the sensors (e.g., thebump sensors, wheel drop sensors, rotation sensors, forward obstaclesensors, side wall sensors, cliff sensors) and to the driving mechanisms(e.g., the motor 123 configured to cause the rotating agitator 122 torotate, drive motor(s) 124 configured to control one or more features ofan air jet assembly, and/or the wheel drive motors 134) for controllingmovement and/or other functions of the robotic cleaner 100. Thus, thecontroller 136 can be configured to operate the drive wheels 130, airjet assemblies, and/or agitator 122 in response to sensed conditions,for example, according to known techniques in the field of roboticcleaners. The controller 136 may operate the robotic cleaner 100 toperform various operations such as autonomous cleaning (includingrandomly moving and turning, wall following and obstacle following),spot cleaning, and docking. The controller 136 may also operate therobotic cleaner 100 to avoid obstacles and cliffs and to escape fromvarious situations where the robot may become stuck. The controller 136may include any combination of hardware (e.g., one or moremicroprocessors) and software known for use in mobile robots.

As shown in FIGS. 6-8 , a robotic cleaner 600 may include a suctionmotor 607, a debris collector 602, an agitator chamber 604 having adirty air inlet 606, and internal ducting 603. The suction motor 607 isfluidly coupled to the dirty air inlet 606 of the agitator chamber 604,the debris collector 602, and the internal ducting 603. The suctionmotor 607 is configured to generate suction within the agitator chamber604, causing air to flow through the dirty air inlet 606 and the debriscollector 602 and into a suction side of the suction motor 607. The airflowing into the suction motor 607 is exhausted from an exhaust side ofthe suction motor 607 and into the internal ducting 603. The internalducting 603 is fluidly coupled to an air outlet 609 such that airflowing through the internal ducting 603 passes through the air outlet609. The air outlet 609 may include and/or be fluidly coupled to an airjet assembly. As such, the positive air pressure generated on theexhaust side of the suction motor 607 may be directed through the airoutlet 609 and the air jet assembly. The agitator chamber 604, thedebris collector 602, the suction motor 607, the internal ducting 603,and the air outlet 609 may generally be described as forming at leastpart of a suction conduit within the robotic cleaner 600.

In some instances (e.g., in the absence of internal ducting 603), airmay be exhausted through an exhaust port (not shown) on the roboticcleaner 600. In this instance, an exhaust outlet plug 601 may be used toredirect the flow of air from the exhaust port and through the internalducting 603 and to the air outlet 609.

FIGS. 9A-11B illustrate example embodiments of nozzles that may be usedas components of air jet assemblies. FIGS. 9A and 9B are schematic viewsof nozzles A-G that may be used as components of air jet assembliesconsistent with embodiments of the present disclosure. FIG. 9A is a sideview of the nozzles A-G that may be used as components of air jetassemblies consistent with embodiments of the present disclosure. FIG.9B is a perspective view of the nozzles A-G that may be used ascomponents of air jet assemblies consistent with embodiments of thepresent disclosure. Nozzles, when used as components of air jetassemblies, may be configured to regulate air flow velocity, direction,and/or shape.

The air jet assembly is configured to be fluidly coupled to a suctionconduit of a robotic cleaner such that air flowing through the suctionconduit passes through the air jet assembly. A nozzle of the air jetassembly is configured to regulate a shape, direction, and/or velocityof air passing therethrough. For example, the nozzle may be configuredto cause a velocity of air flowing therethrough to increase. As such, anozzle can generally be described as being capable of being configuredproduce an air jet having desired properties.

The nozzle includes a nozzle inlet 905 and a nozzle exit 901. Air flowsfirst through the nozzle inlet 905 and then through the nozzle exit 901to be exhausted into a surrounding environment. The nozzle inlet 905 mayhave a different size and/or shape than the nozzle exit 901. Forexample, a size of the nozzle inlet 905 may measure greater than a sizeof the nozzle exit 901, increasing a velocity of air flowing through thenozzle. In some instances (e.g., as shown in nozzle D, E, F, and G), thenozzle inlet 905 and the nozzle exit 901 may extend transverse to eachother. Such a configuration may allow air passing through the nozzle tobe directed towards a desired location.

As seen in FIGS. 9A and 9B, different nozzles having various shapes maybe used as components of air jet assemblies. The nozzle selected as acomponent in an air jet assembly may be selected based on desired airjet properties. The size of the nozzle exit 901 partially controls thevelocity of the air defining the generated air jet as the air leaves thenozzle exit 901. The angle of the nozzle exit 901 relative to the nozzleinlet 905 partially controls the velocity of the air defining thegenerated air jet as the air leaves the nozzle exit 901 by controllingthe direction of air movement.

The nozzle exit 901 can be configured to throttle the air flow. As such,an air jet generated using a nozzle having a small nozzle exit 901 willhave an air flow that moves at a higher velocity than an air jetgenerated using a nozzle having a comparatively larger nozzle exit 901.As seen in FIGS. 9A and 9B, nozzles C, E, and G generate an air jet thatis comparatively narrower than nozzles A, B, D, and F. Therefore, theair defining the air jet generated by nozzles C, E, and G has a highervelocity than the air defining the air jet generated by nozzles A, B, D,and F. A higher air velocity may provide better agitation of debrisstuck on or near walls or that is in a corner.

The configuration, orientation, and/or position of the air jet assemblymay be such that the nozzle exit 901 generates an air jet in a desireddirection. For example, air flows into the nozzle inlet 905 according toa first direction (e.g., a direction substantially perpendicular to asurface to be cleaned) and flows from the nozzle exit 901 according to asecond direction (e.g., along a direction that is non-perpendicular tothe surface to be cleaned), wherein the first direction is differentfrom (or the same as) the second direction. As such, the nozzle cangenerally be described as being configured to adjust a flow direction ofair passing therethrough.

Referring to FIGS. 9A and 9B, when the air jet assembly is positioned onan underside of the robotic cleaner, embodiments of the air jet assemblythat use nozzles A-C generate an air jet that is directed towards thesurface to be cleaned at an angle that is substantially perpendicular tothe surface to be cleaned. Embodiments that use nozzles D and E generateair jets with a flow of air that moves inboard (or outboard) at asubstantially (e.g., within 1°, 2°, 3°, 4°, or 5° of) 45° angle.Embodiments that use nozzles F and G generate air jets with a flow ofair that moves inboard (or outboard) at a substantially (e.g., within1°, 2°, 3°, 4°, or 5° of) 90° angle. In some instances, the nozzles maybe further oriented such that the air is directed at an angle relativeto the aft of the robotic cleaner. Such an orientation would alter thepath of the air jet in relation to the surface to be cleaned such thatthe air jet extends towards an agitator chamber of the robotic cleaner.

Additional nozzle embodiments are illustrated in FIGS. 10A-11B. FIG. 10Ais a top view of nozzles that may be used as components of air jetassemblies consistent with embodiments of the present disclosure. FIG.10B is a bottom view of the nozzles of FIG. 10A that may be used ascomponents of air jet assemblies consistent with embodiments of thepresent disclosure. FIG. 11A is a bottom view of nozzles that may beused as components of air jet assemblies consistent with embodiments ofthe present disclosure. FIG. 11B is a side view of the nozzles of FIG.11A that may be used as components of air jet assemblies consistent withembodiments of the present disclosure.

The placement and angling of the nozzles may be adjusted relative to thehousing of the robotic cleaner and the agitator chamber. For example,nozzles can be configured to generate air jets that are directeddirectly at a cleaning surface (e.g., air jets that extend perpendicularto the cleaning surface) and/or air jets directed at a non-perpendicularangle relative to the cleaning surface. The nozzles can be designed toprovide different air jet profiles. For example, the size and shape ofthe nozzle exits 901 produces air jets with a variety of properties. Insome instances, the air jet assemblies can be configured to generatevortical air jets as air exits the nozzle. Some nozzles, as seen in FIG.11A, have secondary nozzle exits 902 that produce additional air jets.

FIGS. 12 and 13 show an example of a robotic cleaner 1205 having a cleanair exhaust duct 1200. The clean air exhaust duct 1200 is fluidlycoupled to an exhaust side of a suction motor of the robotic cleaner1205. As such, exhaust air from the suction motor passes through theexhaust duct 1200. The exhaust duct 1200 can be fluidly coupled to oneor more air jet assemblies 1204 having a nozzle configured to generatean air jet. The nozzle can be configured to generate an air jet thatoptimizes cleaning performance of the robotic cleaner 1205. For example,the nozzle can be configured to optimize the cleaning performance of acleaning robot capable of carrying out one or more of vacuuming,mopping, cleaning of edges, cleaning of walls, cleaning of corners, andcleaning of different surface types (e.g., carpets or hard floors).

As shown, the exhaust duct 1200 may include an external portion (e.g.,an external conduit) 1201 that extends along an external surface of therobotic cleaner 1205. In other words, at least a portion of the exhaustduct 1200 may extend along an external surface of the robotic cleaner1205. The external portion 1201 may be fluidly coupled to the air jetassembly 1204.

In some instances, the one or more air jet assemblies may be positionedwithin a bumper (e.g., a displaceable and/or deformable bumper). Forexample, the bumper can be deformed, relative to its initial shape, inresponse to the bumper engaging (e.g., contacting) an obstacle. Thebumper can be configured to actuate one or more switches (e.g.,mechanical, optical, and/or any other switch) when the bumper isdisplaced in response to engaging an obstacle. The bumper may contractsuch that the one or more air jet assemblies extend beyond the bumper.As such, at least one of the one or more air jet assemblies may be thecleaning element that is extended the furthest from the body of therobotic cleaner.

FIG. 14 illustrates an example of a robotic cleaner 1400 that includes afan assembly 1302 configured to generate a positive air pressure at oneor more air jet assemblies. The robotic cleaner 1400 includes one ormore fan outlets 1450 on an underside 1452 of a housing 1454 of therobotic cleaner 1400. An air path extends from a secondary air inlet(not shown) and to the one or more fan outlets 1450. In some instances,the one or more air jet assemblies may include a respective one of theone or more fan outlets 1450. The air path may be defined by anysuitable combination of rigid conduits, flexible conduits, chambers,and/or other features that may cooperate to direct a flow of air throughthe robotic cleaner 1400.

FIGS. 15A-15B illustrate an embodiment of the robotic cleaner 1400 ofFIG. 14 with an air jet assembly 1500 including a nozzle attachment1310. A fan 1315 (shown in hidden lines), is fixed within the housing1454 of the robotic cleaner 1400. Air output from the fan 1315 passesinto the nozzle attachment 1310 and through a nozzle exit 1311. Air jets(illustrated as Arrows A and B) are generated by the air flow from eachnozzle exit 1311. The velocity, shape, and/or direction of air defininga respective air jet is based, at least in part, on the size, shape,and/or angle of the nozzle exit 1311. Different nozzle attachments, forexample, as shown in FIGS. 9A-11B, produce air jets with differentproperties.

FIG. 16 illustrates an embodiment of a robotic cleaner 1600 having anair jet assembly 1602 including a nozzle 1604. Air from a clean airexhaust duct or fan outlet moves through the nozzle 1604 and passesthrough a nozzle exit 1606, generating a first air jet. In someinstances, the nozzle 1604 includes a secondary nozzle exit 1608configured to generate a second air jet. The first air jet and secondair jet may be oriented such that they cooperate to agitate debris nearwalls or corners. The first and second air jet may further cooperate tourge the agitated debris towards a location over which an agitatorchamber of the robotic cleaner 1600 passes, allowing the collection ofthe debris by the robotic cleaner 1600.

FIGS. 17A and 17B illustrate an example embodiment of an air jetassembly 1700 that includes a vent 1701. The vent 1701 includes one ormore louvers 1702 configured to shape air passing therethrough into anair jet. The vent 1701 can be coupled to a body 1750 of a roboticcleaner 1752 at a location between an upper surface 1754 and anunderside 1756 of the robotic cleaner 1752. In other words, the vent1701 can define at least a portion of a sidewall 1758 of the roboticcleaner 1752, wherein the sidewall 1758 extends substantially (e.g.,within 1°, 2°, 3°, 4°, or 5° of) perpendicular to the upper surface 1754and the underside 1756 of the robotic cleaner 1752. In some instances,the vent 1701 may extend perpendicular to a surface to be cleaned.

The air jet assembly 1700 can be fluidly coupled to an exhaust side of asuction motor of the robotic cleaner 1752. As such, air exhausted fromthe suction motor is urged through the vent 1701. The one or morelouvers 1702 can direct and/or shape air passing through the vent 1701,forming an air jet. For example, the one or more louvers 1702 can beconfigured to generate an air jet that urges debris into a movement pathof the robotic cleaner 1752. In some instances, one or more louvers 1702may be configured such that the air jet extends forward of one or morerobotic cleaner wheels 1704. Such a configuration may reduce and/orprevent ingress of debris into the robotic cleaner 1752 as a result ofrotational movement of the robotic cleaner wheels 1704. As such, in someinstances, the vent 1701 can generally be described as being positionedand/or configured to mitigate or prevent debris ingress into the roboticcleaner 1752 as a result of rotation of the one or more robotic cleanerwheels 1704.

In some instances, the one or more louvers 1702 may be articulable. Forexample, the one or more louvers 1702 may be coupled to an articulationmotor configured to articulate the one or more louvers 1702 in responseto signals received from a controller of the robotic cleaner 1752.Additionally, or alternatively, the vent 1701 may further include asecondary air outlet 1703 configured to generate a secondary air jet.The secondary air outlet 1703 may include one or more of one or moresecondary louvers, a nozzle, and/or any other component configured togenerate an air jet.

FIG. 18 is a schematic view of an example ducting system capable ofbeing used with a robotic cleaner 1440. FIG. 18 illustrates radialperimeter air jet zones 1401 from which air jets 1420 extend. The airjets 1420 agitate debris at a perimeter of the robotic cleaner 1440. Assuch, the air jets 1420 may be generally described as being a perimeteragitator. The air jets 1420 urge debris towards a path of an agitator1402 and an agitator chamber 1403. As the robotic cleaner 1440 movesalong the surface to be cleaned 1441, air enters the agitator chamber1403, moves through a suction motor and passes through a filter (notshown). Exhaust air 1405 passes from the suction motor and is directedtowards an exhaust vent 1404. The exhaust air 1405 travels through aninternal air path formed via a bumper duct 1406. The bumper duct 1406fluidly connects to the radial perimeter air jet zones 1401. The exhaustair 1405 passes into the radial perimeter air jet zones 1401 and exitsin the form of air jets 1420 via one or more air jet assemblies 1407.These one or more air jet assemblies 1407 may include one or more of oneor more vents and/or one or more nozzles.

In the absence of agitation along the edge of the robotic cleaner 1440,the effective cleaning width of the robotic cleaner 1440 is the width1432 of the opening to the agitator chamber 1403 disposed along anunderside 1800 of the robotic cleaner 1440. In operation, the radialperimeter air jet zones 1401 increase an effective cleaning width 1431of the robotic cleaner by urging debris into the path of the agitator1402 and the agitator chamber 1403.

In some instances, the robotic cleaner 1440 may include at least one airjet assembly (including, for example, one or more of a nozzle or a vent)that extends (or is disposed) within a sidewall of the robotic cleaner1440 that extends substantially perpendicular to the underside 1800 ofthe robotic cleaner 1440. For example, at least one air jet assembly maybe configured to direct an air jet in a direction of a wall or otherobstacle positioned alongside the robotic cleaner. In this example, theair jet assembly may be configured to generate an air jet that extendsin a direction of forward movement of the robotic cleaner and generallytowards the wall or other obstacle. As such, the air jet may urge debrisdeposited along the wall or other obstacle in a direction towards aforward movement path of the robotic cleaner 1440.

In some instances, the robotic cleaner 1440 may include a plurality airjet assemblies 1407, wherein at least one air jet assembly 1407 has aconfiguration that is different from that of at least one other air jetassembly 1407. For example, at least one air jet assembly 1407 mayinclude a vent 1421 disposed on or in a sidewall of the robotic cleaner1440 and at least one air jet assembly having a nozzle that is disposedon the underside 1800 of the robotic cleaner 1440, wherein the air jetassemblies 1407 cooperate to urge debris towards the agitator chamber1403.

In some instances, one or more air jet assemblies 1407 may be controlledbased on environmental conditions (e.g., obstacles, floor type, and/orany other condition). For example, when one or more sensors of therobotic cleaner 1440 detect an obstacle, such as a wall, air flow may bedirected to the air jet assembly 1407 closest the obstacle.

FIG. 19 is a flow chart of one example of an algorithm for determiningwhen to cause one or more air jets to be generated from a respective airjet assembly (which may generally be referred to as engaging an air jetassembly), consistent with embodiments of the present disclosure.

In an example algorithm, the robotic cleaner begins cleaning 2001 asurface according to a cleaning mode. As the robotic cleaner movesacross the surface it operates using baseline cleaning and navigationbehavior 2002. The baseline cleaning and navigation behavior may includeusing front air jet assemblies during the cleaning process. The frontair jet assemblies may be engaged 2003 during normal cleaning operationin order to generate an air jet configured to urge debris to a locationunder the robotic cleaner such that the debris moves into the path of anagitator chamber. As the robotic cleaner moves across the surface to becleaned, the robotic cleaner may encounter a variety of differentobstacles. The robotic cleaner may have a variety of different sensorsincluding those that detect walls 2004. When a wall is not detected2006, the robotic cleaner determines whether to continue operation 2016.If the robotic cleaner determines to continue operation 2017, therobotic cleaner resumes operating using baseline cleaning and navigationbehavior 2002. If the robotic cleaner determines not to continueoperation 2018, the robotic cleaner ends cleaning mode 2020.

When a wall is detected 2005 by the robotic cleaner, a controller maythen use the available sensor data to determine if the robotic cleanerhas encountered a corner 2007. When a corner has not been detected 2009,the robotic cleaner initiates wall cleaning and navigation behavior2010. The controller redirects air flow generated by suction motorexhaust or fans from front air jet assemblies 2011. The redirected airflow is directed towards a side air jet assembly. In embodiments withmultiple side air jet assemblies, the redirected air flow is directedtowards the side air jet assembly closest to the detected wall 2012.

When a corner has been detected 2008, the robotic cleaner initiatescorner cleaning and navigation behavior 2013. The controller redirects aportion of air flow generated by suction motor exhaust and/or one ormore fans from front air jet assemblies 2014. The redirected portion ofair flow is directed towards a side air jet assembly. In embodimentswith multiple side air jet assemblies, the portion of redirected airflow is directed towards the side air jet assembly closest to thedetected wall 2015. As such, the front air jet assemblies and side airjet assemblies may generally be described as being configured to worktogether to urge debris out of corners, creating a wider cleaning path.

FIG. 20 shows a schematic example of a robotic cleaner 2500 having abody 2502, an agitator chamber 2504 defined in the body 2502, a suctionmotor 2506 fluidly coupled to the agitator chamber 2504 and configuredto cause air to flow into the agitator chamber 2504, and at least oneair jet assembly 2508. The at least one air jet assembly 2508 can beconfigured to generate an air jet 2510. The air jet 2510 is configuredto urge debris towards the agitator chamber 2504. In some instances,there may be two or more air jet assemblies 2508, each being configuredto generate a respective air jet 2510. In this instance, the two or moreair jet assemblies 2508 may be configured to urge debris towards theagitator chamber 2504. In instances having two or more air jetassemblies 2508, at least one air jet assembly 2508 may have aconfiguration that is different from that of at least one other air jetassembly 2508.

While the air jet 2510 is shown as extending inboard, otherconfigurations are possible. For example, the air jet 2510 may extendoutboard from the robotic cleaner 2500 such that the air jet 2510extends beyond a perimeter of the robotic cleaner 2500. In this example,the air jet 2510 may be incident on a vertical surface (e.g., a wall orother obstacle) and the vertical surface may urge the air jet 2510 backin a direction of the robotic cleaner 2500 (e.g., towards the agitatorchamber 2504). At least a portion of any debris adjacent the verticalsurface may become entrained within air defining the air jet 2510 and beurged toward the agitator chamber 2504.

The air jet assembly 2508 may include any combination of componentsdescribed herein including, for example, a vent and/or a nozzle, whereinthe vent and/or nozzle is configured to generate a respective air jet2510. The air jet assembly 2508 may be coupled to an underside of thebody 2502 and/or to a sidewall of the body 2502. For example, when therobotic cleaner 2500 includes two or more air jet assemblies 2508, atleast one air jet assembly 2508 may be coupled to the sidewall of thebody 2502 and at least one other air jet assembly 2508 may be coupled tothe underside of the body 2502.

In some instances, and as shown, the robotic cleaner 2500 may furtherinclude an obstacle detection sensor 2512. The obstacle detection sensor2512 may be coupled to the body 2502 and be configured to detect anobstacle. The obstacle detection sensor 2512 can output a signal to acontroller 2514. The controller 2514 may be configured to determine alocation of a detected obstacle relative to the robotic cleaner 2500based, at least in part, on the signal output from the obstacledetection sensor 2512. Based, at least in part, on the determinedlocation of the detected obstacle, the controller 2514 can cause an airjet 2510 to be generated from an air jet assembly 2508 that is closestto the obstacle.

FIG. 21 shows a schematic example of a robotic cleaner 3100. As shown,the robotic cleaner 3100 includes a body 3102 having an agitator chamber3104 (shown in hidden lines) that is configured to receive one or moreagitators 3106 (shown in hidden lines) and one or more driven wheels3108 (shown in hidden lines) configured to urge the robotic cleaner 3100across a surface to be cleaned 3110 (e.g., a floor). In some instances,the robotic cleaner 3100 may include a side brush 3101 (shown in hiddenlines) configured to rotate about a rotation axis that extendstransverse to (e.g., perpendicular to) the surface to be cleaned 3110. Asuction motor 3112 (shown in hidden lines) is fluidly coupled to theagitator chamber 3104 and configured to urge air to flow into theagitator chamber 3104. A dust cup 3114 (shown in hidden lines) may befluidly coupled to the suction motor 3112 and the agitator chamber 3104such that at least a portion of debris entrained within air flowing intothe agitator chamber 3104 is deposited in the dust cup 3114. An exhaustside of the suction motor 3112 is coupled to one or more air jetassemblies 3116. Additionally, or alternatively, a fan assembly may beincluded in the robotic cleaner 3100, wherein the fan assembly may befluidly coupled to the one or more air jet assemblies 3116 to generatean air jet (e.g., as discussed in further detail in relation to FIGS.35-42 ).

As shown, at least a portion of the one or more air jet assemblies 3116can be disposed along a peripheral edge 3118 of the body 3102. The oneor more air jet assemblies 3116 can be positioned along the peripheraledge 3118 such that an air jet 3119 generated by the air jet assembly3116 extends in a direction outwardly from the body 3102 (e.g., radiallyoutwardly when the body 3102 has a generally circular cross-section).Additionally, or alternatively, the one or more air jet assemblies 3116can be positioned such that the air jet 3119 generated by the air jetassembly 3116 extends in a downward direction toward the surface to becleaned 3110. For example, the air jet 3119 generated by the one or moreair jet assemblies 3116 may extend outwardly from the body 3102 and in adirection of the surface to be cleaned 3110. In this example, and asshown in FIG. 32 , when the robotic cleaner 3100 travels along avertical surface 3200 (e.g., a wall) extending from the surface to becleaned 3110, the air jet 3119 may intersect with the vertical surface3200 before intersecting the surface to be cleaned 3110. Such aconfiguration may result in the formation of a vortex between the body3102, the vertical surface 3200, and the surface to be cleaned 3110,which may improve debris agitation. In other words, the air jet assembly3116 (e.g., a nozzle of the air jet assembly 3116) may be configured toencourage the formation of a vortex between the body 3102, the verticalsurface 3200, and the surface to be cleaned 3110.

The one or more air jet assemblies 3116 may be positioned along theperipheral edge 3118 at a location that minimizes a separation distance3202 between the one or more air jet assemblies 3116 and the verticalsurface 3200 when the robotic cleaner 3100 is traveling along thevertical surface 3200. For example, the one or more air jet assemblies3116 may be disposed on an assembly axis 3120. The assembly axis 3120extends transverse to (e.g., perpendicular to) a forward direction ofmovement 3122 of the robotic cleaner 3100 and extends along a widestwidth 3124 of the body 3102, the widest width 3124 extends in adirection transverse to (e.g., perpendicular to) the forward directionof movement 3122. In some instances, the one or more air jet assemblies3116 may be positioned forward and/or rearward of the widest width 3124.

FIGS. 23 and 24 show perspective views of a robotic cleaner 3300, whichmay be an example of the robotic cleaner 3100 of FIG. 21 . The roboticcleaner 3300 may also be an example of the robotic cleaner 4500 of FIG.35 . As shown, the robotic cleaner 3300 includes a body 3302, a bumper3304 moveably coupled to the body 3302 and configured to move inresponse to engaging an obstacle, a navigation sensor 3306 configured todetect one or more obstacles within an environment that are remote fromthe robotic cleaner 3300, and one or more air jet assemblies 3308. Asshown, the body 3302 includes a bottom wall 3310 that defines at least aportion of an underside of the robotic cleaner 3300, a top wall 3312that defines at least a portion of a top surface of the robotic cleaner3300, and a sidewall 3314 extending between the bottom and top walls3310 and 3312. As shown, the sidewall 3314 includes at least a portionof the one or more air jet assemblies 3308. For example, the sidewall3314 may define a receptacle 3317 for receiving at least a portion ofthe one or more air jet assemblies 3308. In this example, the one ormore air jet assemblies 3308 may be coupled to the receptacle 3317 usingone or more of one or more mechanical fasteners (e.g., snap fits orscrews), one or more adhesives, welding (e.g., ultrasonic welding),and/or any other form of coupling. By way of further example, thesidewall 3314 may define at least a portion of the one or more air jetassemblies 3308.

As shown, the one or more air jet assemblies 3308 include a nozzle 3316that is configured to increase a velocity of air passing therethrough.The nozzle 3316 defines a nozzle outlet central axis 3318 along which anair jet flows. The nozzle outlet central axis 3318 extends in an outwarddirection away from the sidewall 3314, in a forward direction, relativeto a forward direction of movement (e.g., in a direction of the bumper3304), and in a downward direction (e.g., in a direction of the bottomwall 3310 of the body 3302). For example, the nozzle outlet central axis3318 can extend from the nozzle 3316 at an outward angle θ, a forwardangle ε, and a downward angle β. The outward angle θ extends between thenozzle outlet central axis 3318 and a vertical plane 3320 thatintersects the bottom and top walls 3310 and 3312 and that extendstransverse to (e.g., perpendicular to) a forward movement direction ofmovement of the robotic cleaner 3300. The forward angle ε extendsbetween the nozzle outlet central axis 3318 and a vertical plane 3321that intersects the bottom and top walls 3310 and 3312 and extendsparallel to the forward direction of movement of the robotic cleaner3300. The downward angle β extends between the nozzle outlet centralaxis 3318 and a horizontal plane 3322, the horizontal plane 3322 extendsbetween the bottom and top walls 3310 and 3312.

The forward angle ε can be configured such that an air jet exiting thenozzle 3316 urges debris towards a location in a movement path of therobotic cleaner 3300 that is forward of one or more driven wheels of therobotic cleaner 3300 (e.g., such that the air jet does not urge debrisinto the driven wheels). The forward angle ε may be further configuredto mitigate the redistribution of debris when the robotic cleaner 3300turns to traverse a corner (e.g., the intersection of two walls). Theforward angle ε may, for example, be within a range of 20° to 40°. Byway of further example, the forward angle ε may be within a range of 20°to 30°. By way of still further example, the forward angle ε may bewithin a range of 30° to 40°.

The downward angle β may be configured such that the air jet intersectsa vertical surface (e.g., a wall) before intersecting a surface to becleaned (e.g., a floor). In some instances, the downward angle β may beconfigured to maximize a downward velocity of the air jet with the airjet intersecting the vertical surface before intersecting the surface tobe cleaned. The downward angle β may, for example, be within a range of20° to 40°. By way of further example, the downward angle β may bewithin a range of 20° to 30°. By way of still further example, thedownward angle β may be within a range of 30° to 40°. By way of stillfurther example, the downward angle β may be within a range of 28° to32°. By way of still further example, the downward angle β may be withina range of 29° to 31°. By way of still further example, the downwardangle β may be 30°.

The outward angle θ may be, for example, in a range of 5° to 80°. By wayof further example, the outward angle θ may be in a range of 15° to 60°.By way of still further example, the outward angle θ may be in a rangeof 20° to 40°. By way of still further example, the outward angle θ maybe in a range of 5° to 30°. By way of still further example, the outwardangle θ may be in a range of 10° to 40°. By way of still furtherexample, the outward angle θ may be in a range of 10° to 20°. By way ofstill further example, the outward angle θ may be in a range of 15° to30°.

The outward angle θ, the forward angle ε, and/or the downward angle βinfluence an ability of the air jet to urge debris into a movement pathof the robotic cleaner 3300. For example, the downward angle β may beconfigured such that a downward velocity of the air jet is sufficient toprevent debris (e.g., fibrous debris such as hair) from being urgedupwards in a direction above the robotic cleaner 3300. Additionally, oralternatively, the forward angle ε may be configured such that the airjet urges debris (e.g., fibrous debris such as hair) forwardly towards amovement path of the robotic cleaner 3300. When the robotic cleaner 3300traverses a corner, the air jet may interact with the corner, urging thedebris into a movement path of the robotic cleaner 3300.

FIG. 25 shows an example of the robotic cleaner 3300 having the top wall3312 removed therefrom. As shown, the air jet assembly 3308 includes aduct 3500 configured to fluidly couple a suction motor (not shown) ofthe robotic cleaner 3300 to the nozzle 3316. The duct 3500 may be asubstantially rigid duct and/or a flexible duct (e.g., a flexible tube).The air jet assembly 3308 may further include a coupling wall 3502configured to be received within the receptacle 3317 defined by thesidewall 3314. In some instances, the coupling wall 3502 may besubstantially flush with sidewall 3314 such that the body 3302 has asubstantially continuous surface extending between the bottom and topwalls 3310 and 3312. In some instances, two or more of the duct 3500,the nozzle 3316, and/or the coupling wall 3502 may be formed as onemonolithic piece. For example, the duct 3500, the nozzle 3316, and thecoupling wall 3502 may be formed as single monolithic piece. In otherinstances, each of the duct 3500, the nozzle 3316, and the coupling wall3502 may be formed as separate pieces and coupled together (e.g., usingan adhesive, a mechanical coupling, and/or any other form of coupling).

As shown in FIGS. 26 and 27 , the air jet assembly 3308 may include avalve 3600 configured to be actuated between a closed position (see,FIG. 26 ) and an open position (see, FIG. 27 ). The valve 3600 may befluidly coupled to the nozzle 3316 such that the valve 3600 ispositioned within a flow path extending between the outlet of thesuction motor and the nozzle 3316. The valve 3600 may be configured toselectively allow air to flow through the nozzle 3316. In other words,the valve 3600 may be configured to enable a selective generation of anair jet. For example, the valve 3600 may be transitioned to the openposition when the robotic cleaner 3300 is moving along a wall and thevalve may be transitioned to the closed position when the roboticcleaner 3300 is moving within an open space (e.g., a position away froma wall).

FIG. 28 shows an example of the robotic cleaner 3300 having the top wall3312 removed therefrom and FIG. 29 shows a magnified view of a portionof the robotic cleaner 3300. As shown, the duct 3500 is a flexible tubeextending between the nozzle 3316 and a valve 3800. The valve 3800 maybe actuated between the open and closed position using a valve motor3802.

FIG. 30 shows a method 4000 for cleaning with a robotic cleaner havingan air jet assembly (e.g., the robotic cleaner 3100 of FIG. 21 ). One ormore steps of the method 4000 may be embodied as one or moreinstructions stored in one or more memories (e.g., one or morenon-transitory memories), wherein the one or more instructions areconfigured to be executed on one or more processors. For example, arobot controller may be configured to cause one or more steps of themethod 4000 to be carried out. Additionally, or alternatively, one ormore steps of the method 4000 may be carried out in any combination ofsoftware, firmware, and/or circuitry (e.g., an application-specificintegrated circuit).

As shown, the method 4000 may include a step 4002. The step 4002includes causing the robotic cleaner 3100 to traverse an environmentuntil the robotic cleaner 3100 encounters a vertical surface (e.g., awall).

The method 4000 may include a step 4004. The step 4004 includes causingthe robotic cleaner 3100 to follow the vertical surface. For example,when the vertical surface is one or more walls defining a room, therobotic cleaner 3100 may be caused to follow the walls until the roboticcleaner 3100 traverses at least a portion (e.g., an entire portion) ofthe perimeter of the room. When following the vertical surface, therobotic cleaner 3100 may be caused to minimize a separation distancebetween the air jet assembly 3116 and the vertical surface. As such, therobotic cleaner 3100 is caused to follow the vertical surface with theair jet assembly 3116 facing the vertical surface. In some instances, amovement speed of the robotic cleaner 3100 may be reduced when followingthe vertical surface when compared to a movement speed when notfollowing the vertical surface (e.g., when traversing a central portionof a room). Such a configuration may allow the separation distancebetween the air jet assembly 3116 and the vertical surface to beminimized. In some instances, when the robotic cleaner 3100 includes oneor more side brushes 3101, at least one of the one or more side brushes3101 may be operated at an increased speed when following the verticalsurface when compared to not following the vertical surface. In someinstances, the side brush 3101 that is on a side of the robotic cleaner3100 that is opposite the air jet assembly 3116 may be operated at theincreased speed. In some instances, when following the vertical surface,a velocity of the air jet 3119 may be increased. For example, a speed ofthe suction motor may be increased (relative to a speed used whencleaning away from the vertical surface) to increase a quantity ofsuction motor exhaust air. In this example, the suction motor 3112 maybe increased to at least 95% of a maximum speed. Additionally, oralternatively, the velocity of the air jet 3119 may be increased byincreasing a rotational speed of a fan, the fan being separate from thesuction motor 3112.

The method 4000 may include a step 4006. The step 4006 includes, inresponse to encountering an intersection of two vertical surfaces (whichmay generally be referred to as a corner), causing the robotic cleaner3100 to traverse the corner at a reduced turning speed relative to aturning speed when not traversing a corner. For example, the turningspeed may be reduced by at least 40%, at least 45%, at least 50%, or atleast 55%.

In some instances, in response to the robotic cleaner 3100 commencing acleaning operation for a room defined at least partially by a pluralityof walls, the robotic cleaner 3100 can be caused to carry out the method4000 to clean adjacent the walls prior to the robotic cleaner 3100cleaning a central portion of the room. Such a configuration mayencourage more effective debris pickup (e.g., at least a portion ofdebris adjacent the wall may be urged into a central portion of the roomwhen cleaning adjacent the walls).

FIG. 31 shows a method 4100 for cleaning adjacent a vertical surface(e.g., a wall) with a robotic cleaner having an air jet assembly (e.g.,the robotic cleaner 3100 of FIG. 21 ). One or more steps of the method4100 may be embodied as one or more instructions stored in one or morememories (e.g., one or more non-transitory memories), wherein the one ormore instructions are configured to be executed on one or moreprocessors. For example, a robot controller may be configured to causeone or more steps of the method 4100 to be carried out. Additionally, oralternatively, one or more steps of the method 4100 may be carried outin any combination of software, firmware, and/or circuitry (e.g., anapplication-specific integrated circuit).

The method 4100 may include a step 4102. The step 4102 includes causingthe robotic cleaner 3100 to follow a vertical surface (e.g., a wall) inresponse to detecting the vertical surface.

The method 4100 may include a step 4104. The step 4104 includes causingan air jet to be generated with the air jet assembly 3116.

The method 4100 may include a step 4106. The step 4106 includes causingthe robotic cleaner 3100 to determine a distance between the roboticcleaner 3100 and the vertical surface.

The method 4100 may include a step 4108. The step 4108 includescomparing the determined distance to a threshold. In response to thedetermined distance being greater than the threshold, increasing avolume of air delivered to the air jet assembly 3116. In response to thedetermined distance being less than the threshold, decreasing a volumeof air delivered to the air jet assembly 3116 (e.g., discontinuing thegeneration of an air jet).

FIG. 32 shows a method 4200 for cleaning at an intersection of twovertical surfaces (which may generally be referred to as a corner) witha robotic cleaner having an air jet assembly (e.g., the robotic cleaner3100 of FIG. 21 ). One or more steps of the method 4200 may be embodiedas one or more instructions stored in one or more memories (e.g., one ormore non-transitory memories), wherein the one or more instructions areconfigured to be executed on one or more processors. For example, arobot controller may be configured to cause one or more steps of themethod 4200 to be carried out. Additionally, or alternatively, one ormore steps of the method 4200 may be carried out in any combination ofsoftware, firmware, and/or circuitry (e.g., an application-specificintegrated circuit).

The method 4200 may include a step 4202. The step 4202 includes causingthe robotic cleaner 3100 to follow a vertical surface while generatingan air jet.

The method 4200 may include a step 4204. The step 4204 includes causingthe robotic cleaner 3100 to detect an intersection of two verticalsurfaces (which may generally be referred to as a corner).

The method 4200 may include a step 4206. The step 4206 may includecausing the robotic cleaner 3100 to discontinue generating the air jetin response to detecting the corner. In response to discontinuinggeneration of the air jet, the robotic cleaner 3100 may be caused torotate in a first rotation direction (e.g., counter-clockwise) for afirst rotation angle. The first rotation angle may be, for example, in arange of 15° to 45°. By way of further example, the first rotation anglemaybe 30°.

The method 4200 may include a step 4208. The step 4208 includes causingthe robotic cleaner 3100 to resume generating the air jet in response tocompleting rotation through the first rotation angle. In response toresuming generation of the air jet, the robotic cleaner 3100 may becaused to rotate in a second rotation direction (e.g., clockwise) for asecond rotation angle, the second rotation direction being opposite thefirst rotation direction. The second rotation angle may be greater thanthe first rotation angle. The second rotation angle may be, for example,in a range of 45° to 75°. By way of further example, the second rotationangle may be 60°.

The method 4200 may include a step 4210. The step 4210 includes causingthe robotic cleaner 3100 to discontinue generating the air jet inresponse to completing rotation through the second rotation angle. Inresponse to discontinuing generation of the air jet, the robotic cleaner3100 may be caused to rotate in the first rotation direction for a thirdrotation angle. The third rotation angle may be the same as the secondrotation angle. The third rotation angle may be, for example, in a rangeof 45° to 75°. By way of further example, the third rotation angle maybe 60°.

The method 4200 may include a step 4212. The step 4212 includes causingthe robotic cleaner 3100 to resume generating the air jet in response tocompleting rotation through the third rotation angle. In response toresuming generation of the air jet, the robotic cleaner 3100 may becaused to rotate in the second rotation direction for a fourth rotationangle. The fourth rotation angle may be the same as the third rotationangle. The fourth rotation angle may be, for example, in a range of 45°to 75°. By way of further example, the fourth rotation angle may be 60°.

The method 4200 may include a step 4214. The step 4214 includes causingthe robotic cleaner 3100 to traverse the corner to follow theintersecting vertical surface. When following the intersecting verticalsurface, the robotic cleaner 3100 may be caused to generate an air jet.

The method 4200 may include a step 4216. The step 4216 includes causingthe robotic cleaner 3100 to discontinue following the vertical surfaceand to discontinue generation of the air jet. In some instances, thestep 4216 may be carried out in the alternative to the step 4214.

FIG. 33 shows a perspective view of a robotic cleaner 4300, which may bean example of the robotic cleaner 3100 of FIG. 21 . As shown, therobotic cleaner 4300 includes a body 4302, a moveable bumper 4304moveably coupled to the body 4302, one or more side brushes 4306, anavigation sensor 4308, and an air jet assembly 4310. As shown, the airjet assembly 4310 includes a vent 4312 defined in the moveable bumper4304. The vent 4312 may be positioned between a forward most portion ofthe robotic cleaner 4300 (relative to a forward movement direction ofthe robotic cleaner 4300) and a side most portion of the robotic cleaner4300.

As shown in FIG. 34 , the vent 4312 is fluidly coupled to a duct 4400,the duct being fluidly coupled to an exhaust side of a suction motor4402. In some instances, the duct 4400 may include a valve assembly 4404configured to selectively fluidly couple the suction motor 4402 to thevent 4312.

FIG. 35 shows a schematic example of a robotic cleaner 4500, which maybe an example of the robotic cleaner 3100 of FIG. 21 . As shown, therobotic cleaner 4500 includes a body 4502 having an agitator chamber4504 (shown in hidden lines) that is configured to receive one or moreagitators 4506 (shown in hidden lines) and one or more driven wheels4508 (shown in hidden lines) configured to urge the robotic cleaner 4500across a surface to be cleaned 4510 (e.g., a floor). In some instances,the robotic cleaner 4500 may include a side brush 4501 (shown in hiddenlines) configured to rotate about a rotation axis that extendstransverse to (e.g., perpendicular to) the surface to be cleaned 4510. Asuction motor 4512 (shown in hidden lines) is fluidly coupled to theagitator chamber 4504 and configured to urge air to flow into theagitator chamber 4504. A dust cup 4514 (shown in hidden lines) may befluidly coupled to the suction motor 4512 and the agitator chamber 4504such that at least a portion of debris entrained within air flowing intothe agitator chamber 4504 is deposited in the dust cup 4514. One or moreair jet assemblies 4516 (shown in hidden lines) may be disposed at aperipheral edge 4518 of the body 4502 of the robotic cleaner 4500.

The one or more air jet assemblies 4516 are fluidly coupled to a fan4520 (shown in hidden lines). The fan 4520 is configured to cause air toflow through the one or more air jet assemblies 4516, forming an airjet. The fan 4520 may be communicatively coupled to a controller 4522(shown in hidden lines) of the robotic cleaner 4500. The controller 4522may be configured to adjust an operation of the fan 4520. For example,the controller 4522 may adjust the operation of the fan 4520 based, atleast in part, on inputs received from one or more sensors 4524 (shownin hidden lines) configured to detect conditions within an environment(e.g., proximity of a vertical surface such as a wall and/or a quantityand/or size of debris adjacent a vertical surface).

Adjusting operation of the fan 4520 may include enabling and disablingthe fan 4520, changing the fan speed, and/or any other operationaladjustment. For example, the controller 4522 may be configured to enablethe fan 4520 in response to at least one of the one or more sensors 4524detecting the presence of a vertical surface (e.g., a wall) and todisable the fan 4520 in response to the one or more sensors 4524 notdetecting the vertical surface. As such, an air jet may be generatedwhen the robotic cleaner 4500 is following a vertical surface but notwhen traversing a central portion of an area, potentially reducing powerconsumption. By way of further example, the controller 4522 may causethe fan 4520 to operate at higher speeds with increasing distance from avertical surface and/or based on a quantity of detected debris adjacentthe vertical surface (e.g., when the one or more sensors 4524 includes adebris detection sensor). By way of still further example, a user of therobotic cleaner 4500 may adjust the operation of the fan 4520 manually(e.g., using an interface on the robotic cleaner 4500 and/or through anapplication on a computing device such as a mobile phone or tablet). Inthis example, a user may select between a plurality of different fanspeeds (e.g., at least 3 fan speeds) such as, for example, a high,medium, and low fan speed. Additionally, or alternatively, the user mayselect an automatic fan speed. The automatic fan speed may be determinedby the controller 4522 of the robotic cleaner 4500 using, for example,the one or more sensors 4524. The user may also cause the fan 4520 to bedisabled. In some instances, the user may indicate areas (e.g., roomsand/or regions within rooms) in which the fan 4520 is to be disabled(e.g., using a map of the environment displayed on a device such as amobile phone).

FIG. 36 shows a schematic example of the robotic cleaner 4500, whereinthe fan 4520 and suction motor 4512 cooperate to urge air into the oneor more air jet assemblies 4516. As shown, a suction motor exhaust 4600of the suction motor 4512 and a fan exhaust 4602 of the fan 4520 isfluidly coupled to a duct 4604 (shown in hidden lines) of at least oneof the one or more air jet assemblies 4516. The duct 4604 fluidlycouples the suction motor 4512 and fan 4520 to a nozzle 4601 of at leastone of the one or more air jet assemblies 4516. The duct 4604 may, insome instances, be at least partially (e.g., entirely) formed from abody of the robotic cleaner 4500. Alternatively, the duct 4604 may be aseparate component that couples to a body of the robotic cleaner 4500.

In operation, the controller 4522 may be configured to selectivelyenable/disable to the fan 4520 to adjust a velocity of the generated airjet. When the fan 4520 is disabled, a baseline air jet may be generatedusing only the exhaust of the suction motor 4512. When the fan 4520 isenabled, the suction motor 4512 and the fan 4520 may cooperate to forman augmented air jet, the augmented air jet may have a velocity that isgreater than that of the baseline air jet. The velocity of the augmentedair jet may be adjusted by adjusting a speed of the fan 4520. Forexample, the controller 4522 may adjust a fan speed based, at least inpart, on a user input and/or using the one or more sensors 4524. The fan4520 may be generally described as having a plurality of non-zero speeds(e.g., at least three non-zero fan speeds). In some instances, the fanspeed may be varied (e.g., continuously) such that a pulsed air jet isformed.

FIG. 37 shows a schematic example of the robotic cleaner 4500, whereinthe fan 4520 and suction motor 4512 do not cooperate to urge air intothe one or more air jet assemblies 4516. As shown, a first duct 4700 ofthe air jet assembly 4516 fluidly couples the fan exhaust 4602 of thefan 4520 to at least one nozzle 4701 of at least one of the one or moreair jet assemblies 4516 and a second duct 4702 fluidly couples thesuction motor exhaust 4600 to an exhaust port and/or another nozzle ofanother one of the one or more air jet assemblies 4516. Such aconfiguration may allow at least one of the one or more air jetassemblies 4516 to be positioned without considering proximity of theair jet assembly 4516 to the suction motor 4512. The ducts 4700 and/or4702 may, in some instances, be at least partially (e.g., entirely)formed from a body of the robotic cleaner 4500. Alternatively, one ormore of the ducts 4700 and/or 4702 may be a separate component thatcouples to a body of the robotic cleaner 4500.

In operation, the controller 4522 may be configured to selectivelyenable/disable the fan 4520 and/or to adjust a fan speed of the fan 4520in order to adjust a velocity of the generated air jet. When the fan4520 is disabled, the air jet assembly 4516 fluidly coupled to the fan4520 does not generate an air jet. When the fan 4520 is enabled, air iscaused to flow through the air jet assembly 4516 fluidly coupled to thefan 4520. A speed of the fan 4520 may be adjusted to adjust a velocityof the generated air jet. The fan 4520 may be generally described ashaving a plurality of non-zero fan speeds (e.g., at least three non-zerofan speeds). In some instances, the fan speed may be varied (e.g.,continuously) such that a pulsed air jet is formed.

FIG. 38A shows a perspective view of a robotic cleaner 4800, which maybe an example of the robotic cleaner 4500 of FIG. 35 and FIG. 39 showsanother perspective view of the robotic cleaner 4800 having portionsremoved therefrom for clarity. As shown, the robotic cleaner 4800includes a body 4802, a navigation sensor 4804 extending from a top wall4806 of the body 4802, a user interface 4808 disposed on the top wall4806, one or more driven wheels 4807 configured to urge the body 4802across a surface to be cleaned (e.g., a floor) 4801, a displaceablebumper 4810 movably coupled to the body 4802 (e.g., along one or more ofa vertical and/or horizontal axis), at least one (e.g., only one, two ormore, and/or any other number) side brush 4811, and an air jet assembly4812 configured to generate an air jet that extends outwardly from thebody 4802. In some instances, the robotic cleaner 4500 may include a wetcleaning assembly 4821 having a liquid tank 4823 and an absorbent pad4825. The absorbent pad 4825 may be configured to be agitated (e.g.,oscillated linearly and/or rotated) relative to the surface to becleaned 4801.

The air jet assembly 4812 may include a nozzle 4814 configured to shapeand/or direct air passing therethrough. The air jet assembly 4812 iscoupled to (or defined in) a sidewall 4813 extending between the topwall 4806 and a bottom wall 4815 of the body 4802. For example, at leasta portion of the air jet assembly 4812 (e.g., the nozzle 4814) may bedisposed at a widest width of the robotic cleaner 4800, wherein thewidest width 4856 (FIG. 38B) extends in a direction generally parallelto a rotation axis of the one or more driven wheels 4807. By way offurther example, at least a portion of the air jet assembly 4812 (e.g.,the nozzle 4814) may be positioned forward or rearward of the widestwidth 4856.

As shown, the air jet assembly 4812 and the at least one side brush 4811are positioned on a common side of the body 4802. The air jet assembly4812 and the at least one side brush 4811 are configured to urge debrisinto a movement bath of the robotic cleaner 4800. As such, the air jetassembly 4812 can be configured to cooperate with the at least one sidebrush 4811. For example, the air jet assembly 4812 can be configured tourge debris into a swept area of the at least one aide brush 4811. Theswept area of the at least one side brush 4811 may generally bedescribed as an area of the surface to be cleaned 4801 along which theat least one side brush 4811 moves through when rotating about a sidebrush axis 4819 that extends transverse to (e.g., perpendicular to) thesurface to be cleaned 4801. In some instances, one or more of the airjet assembly 4812 and/or at least one side brush 4811 may be positionedforward of the wet cleaning assembly 4821 (relative to a forwarddirection of movement of the robotic cleaner 4800). Such a configurationmay reduce a quantity of loose dry debris that gets collected by theabsorbent pad 4825 (e.g., loose fibrous debris such as hair).

The air jet assembly 4812 may include a nozzle 4814. The nozzle 4814 isshown as being recessed into the body 4802 (instead of protruding fromthe body 4802 such as the nozzle 3316 of FIGS. 23 and 24 ). The nozzle4814 may be positioned closer to the top wall 4806 than the bottom wall4815. For example, the nozzle 4814 may be positioned within an upper 40%of the sidewall 4813. In some instances, a separation distance from abottom most portion of the nozzle 4814 and the surface to be cleaned4801 may be about (e.g., within 1%, 2%, 3%, 4%, or 5% of) 50 millimeters(mm).

A nozzle outlet central axis 4817 of the nozzle 4814 may have a similarorientation as that described herein in relation to the nozzle outletcentral axis 3318 of FIGS. 23 and 24 . For example, FIG. 38B shows a topview of the robotic cleaner 4800. As shown, the nozzle outlet centralaxis 4817 forms a forward angle γ with a front-rear cross axis 4850(e.g., a central front-rear cross axis) that extends parallel to aforward movement direction of the robotic cleaner 4800. In other words,the forward angle γ extends between the nozzle outlet central axis 4817and the front-rear cross-axis 4850. As also shown, the nozzle outletcentral axis 4817 forms an outward angle ψ with a side-side cross axis4852 (e.g., a central side-side cross axis) that extends transverse to(e.g., perpendicular to) the front-rear cross axis 4850. In other words,the outward angle ψ extends between the nozzle outlet central axis 4817and the side-side cross axis 4852. FIG. 38C shows a side view of therobotic cleaner 4800. As shown, the nozzle outlet central axis 4817forms a downward angle φ with a horizontal plane 4854 (e.g., a planethat extends between the top wall 4806 and the bottom wall 4815 and thatis substantially parallel to the surface to be cleaned 4801). In otherwords, the downward angle φ extends between the nozzle outlet centralaxis 4817 and the horizontal plane 4854. The forward angle γ, theoutward angle ψ, and the downward angle φ can be configured such thatthe nozzle outlet central axis 3318 (and the generated air jet) extendsfrom the robotic cleaner 4800 in a direction of forward movement of therobotic cleaner 4800 (e.g., a forward direction that extends towards thedisplaceable bumper 4810), a downward direction towards the surface tobe cleaned 4801 (e.g., in a downward direction that extends toward thebottom wall 4815 of the body 4802 of the robotic cleaner 4800), and anoutward direction away from a central portion of the robotic cleaner4800 (e.g., in an outward direction that extends away from the sidewall4813 of the body 4802).

The forward angle γ may be, for example, in a range of 30° to 60°. Byway of further example, the forward angle γ may be in a range of 40° to50°. By way of still further example, the forward angle γ may be about(e.g., within 1%, 2%, 3%, 4%, or 5% of) 41°. The outward angle ψ may be,for example, in a range of 25° to 45°. By way of further example, theoutward angle ψ may be in a range of 30° to 40°. By way of still furtherexample, the outward angle ψ may be about (e.g., within 1%, 2%, 3%, 4%,or 5% of) 36°. The downward angle φ may be, for example, in a range of15° to 35°. By way of further example, the downward angle φ may be in arange of 20° to 30°. By way of still further example the downward angleφ may be about (e.g., within 1%, 2%, 3%, 4%, or 5% of) 27°.

The air jet assembly 4812 includes an intake grill 4816. The intakegrill 4816 is fluidly coupled to an intake side 4900 of a fan 4902. Assuch, when enabled, at least a portion of the air drawn into the fan4902 is drawn through the intake grill 4816. The intake grill 4816 mayinclude one or more ribs 4818. The ribs 4818 may be angled such that airis drawn into the intake grill 4816 in a downward direction (toward thesurface to be cleaned 4801) and/or in a direction generally oppositethat in which the air jet is directed (e.g., a rearward directionrelative to a forward direction of travel). For example, the ribs 4818may be configured to discourage an interference between air drawn intothe intake grill and air exhausted from the nozzle 4814 as an air jet.Such a configuration may reduce a quantity of debris suctioned into thefan 4902.

Exhaust from a suction motor 4906 may flow around the fan 4902 beforebeing exhausted into a surrounding environment. As such, in someinstances, a bridging duct 4904 may extend between the intake grill 4816and an intake side 4900 of the fan 4902. Such a configuration maysubstantially isolate the intake side 4900 of the fan 4902 from theexhaust of the suction motor 4906 within the body 4802 of the roboticcleaner 4800.

As shown in FIG. 40 , the fan 4902 is fluidly coupled to the nozzle 4814(e.g., directly or through an air jet duct). As such, air drawn into thefan 4902 is caused to flow through the nozzle 4814, forming an air jet.As shown, the nozzle 4814 is recessed within the body 4802 of therobotic cleaner 4800. Recessing the nozzle 4814 within the body 4802 ofthe robotic cleaner 4800 may allow the robotic cleaner 4800 to moreclosely approach an edge of a vertical obstacle (e.g., a wall) whencompared to a protruding nozzle.

FIG. 41 shows a perspective view of the nozzle 4814 and FIG. 42A shows across-sectional view of the nozzle 4814 taken along the line XLII-XLIIof FIG. 41 . The nozzle 4814 can be configured such that the generatedair jet has a velocity (e.g., as measured at an outlet of the nozzle4814) within a range of, for example, 10 meters per second (m/s) to 20m/s. By way of further example, the nozzle 4814 can be configured suchthat the generated air jet has a velocity within a range of 12 m/s and16 m/s. By way of still further example, the nozzle 4814 can beconfigured such that the generated air jet has a velocity within a rangeof 13 m/s and 15 m/s. By way of still further example, the nozzle 4814can be configured such that the generated air jet has a velocity ofsubstantially (e.g., within 1%, 2%, 3%, 4%, or 5% of) 14 m/s.

The velocity of the air jet may be based, at least in part, on aposition of the nozzle 4814 on the robotic cleaner 4800. For example, asa separation distance between the nozzle 4814 and a vertical surface(e.g., a wall) adjacent the robotic cleaner 4800 increases the velocityof the air jet may be increased. Such a configuration may encouragesufficient movement of debris. By way of further example, as aseparation distance between the nozzle 4814 and a vertical surface(e.g., a wall) adjacent the robotic cleaner 4800 decreases the velocityof the air jet may be decreased. Such a configuration may mitigatedebris pluming. The velocity of the air jet may be fixed (e.g., a fixedvelocity that is based, at least in part, on an average separationdistance between the nozzle 4814 and a wall when the robotic cleaner4800 is engaging in a wall-following behavior) or variable (e.g., based,at least in part, on predetermined velocities and/or based on desiredair jet behaviors such as pulsing).

A nozzle inlet central axis 5100 and the nozzle outlet central axis 4817may form a inlet-outlet intersection angle α. The inlet-outletintersection angle α may be within a range of 90° to 165°. The nozzleinlet central axis 5100 extends substantially perpendicular to an inletof the nozzle 4814 and the nozzle outlet central axis 4817 extendssubstantially perpendicular to an outlet of the nozzle 4814.

As also shown, the nozzle 4814 may include a bend point 5102. The bendpoint 5102 corresponds to a location where air flowing through thenozzle 4814 changes direction. The location of the bend point 5102 mayhave an impact on flow characteristics of air flowing out of the nozzle4814. In some instances, the bend point 5102 may be closer to a nozzleoutlet 5205 than to a nozzle inlet 5203. For example, a separationdistance 5104 between the bend point 5102 and the nozzle inlet 5203 maybe at least twice a separation distance 5106 between the bend point 5102and the nozzle outlet 5205. In other instances, the bend point 5102 maybe closer to the nozzle inlet 5203 than to the nozzle outlet 5205. Forexample, the separation distance 5106 between the bend point 5102 andthe nozzle outlet 5205 may be at least twice the separation distance5104 between the bend point 5102 and the nozzle inlet 5203.

As shown in FIG. 42A, a flow splitter 5200 may be positioned within anair flow path 5201 extending through the nozzle 4814. The flow splitter5200 has a first flow side 5202 and a second flow side 5204, wherein aportion of the air flow path 5201 extends along each of the first andsecond flow sides 5202 and 5204. As shown, the first flow side 5202 maybe substantially planar and the second flow side 5204 may be convex(e.g., triangular or arcuate shaped). In other words, with reference toFIG. 42B (which shows a magnified view of the flow splitter 5200), asecond surface length 5250 over which air flows on the second flow side5204 is greater than a first surface length 5252 over which air flows onthe first flow side 5202. Having different surface lengths over whichair flows on the first and second flow sides 5202 and 5204 may introducea velocity difference in air flowing over the first and second flowsides 5202 and 5204. As a result, a vortex of air may be formeddownstream of a trailing edge 5206 of the flow splitter 5200. Creationof a vortex in the air may improve debris agitation.

The flow splitter 5200 is positioned between the nozzle inlet 5203 andthe nozzle outlet 5205 of the nozzle 4814. For example, the flowsplitter 5200 may be centrally positioned within the nozzle 4814 suchthat a separation distance between the trailing edge 5206 of the flowsplitter 5200 and the nozzle outlet 5205 is substantially (e.g., within1%, 2%, 3%, or 5% of) the same as a separation distance between aleading edge 5207 of the flow splitter 5200 and the nozzle inlet 5203.By way of further example, the flow splitter 5200 may be positionedwithin the nozzle 4814 such that the separation distance between thetrailing edge 5206 and the nozzle outlet 5205 is less than theseparation distance between the leading edge 5207 and the nozzle inlet5203. By way of still further example, the flow splitter 5200 may bepositioned within the nozzle 4814 such that the separation distancebetween the trailing edge 5206 and the nozzle outlet 5205 is greaterthan the separation distance between the leading edge 5207 and thenozzle inlet 5203.

As also shown in FIG. 42A, the nozzle 4814 may include a first region5208 and a second region 5210. The first region 5208 may have asubstantially rectangular cross-section and the second region 5210 mayhave a substantially circular or oval shaped cross-section. The firstregion 5208 may have a cross-sectional area that is greater than across-sectional area of the second region 5210. For example, across-sectional area of the first region 5208, at a largest point, maybe in a range of 200 square millimeters (mm²) and 225 mm² and across-sectional area of the second region 5210, at a largest point, maybe in a range of 70 mm² to 90 mm². By way of further example, across-sectional area of the first region 5208, at a largest point, maybe about (e.g., within 1%, 2%, 3%, 4%, or 5% of) 212 mm² and across-sectional area of the second region 5210, at a largest point, maybe about 78 mm². By way of still further example, a ratio of thecross-sectional area of the first region 5208, at a largest point, to across-sectional area of the second region 5210, at a largest point, maybe in a range of 2:1 to 4:1. By way of still further example, a ratio ofthe cross-sectional area of the first region 5208, at a largest point,to a cross-sectional area of the second region 5210, at a largest point,may be about 2.7:1.

As shown, the second region 5210 may include a first width 5212, asecond width 5214, and a third width 5216, the second width 5214 beingbetween the first and third widths 5212 and 5216. The second width 5214may be greater than the first and third widths 5212 and 5216. Forexample, a nozzle sidewall 5218 of the second region 5210 may have anarcuate shape. By way of further example, the nozzle sidewall 5218 ofthe second region 5210 may generally be described as forming a truncatedsphere-shaped chamber, wherein the opposing truncated ends are definedby respective openings. In some instances, the first, second, and thirdwidths 5212, 5214, and 5216 may be the same. For example, the first,second, and third widths 5212, 5214, and 5216 may each be about 8 mm,about 10 mm, about 12 mm, or about 14 mm. In this example, the secondregion 5210 may generally be described as having a substantiallycylindrical shape. In some instances, the first width 5212 may begreater than the second width 5214 and the second width 5214 may begreater than the third width 5216. For example, the first, second, andthird widths 5212, 5214, and 5216 may be configured such that the secondregion 5210 tapers from the first width 5212 to the third width 5216(e.g., with a less than 1° taper).

FIG. 43 shows a perspective view of the nozzle 4814. As shown, the flowsplitter 5200 is disposed within nozzle 4814. For example, the flowsplitter 5200 may be disposed within nozzle 4814 such that a first sideseparation distance 5300 between the first flow side 5202 and the nozzlesidewall 5218 at a first side of the nozzle 4814 is substantially thesame as a second side separation distance 5302 between the second flowside 5204 and the nozzle sidewall 5218 at a second, opposite, side ofthe nozzle 4814. By way of further example, the first side separationdistance 5300 may be greater than (or less than) the second sideseparation distance 5302. In some instances, the first and secondseparation distances 5300 and 5302 may be configured such that objectsof a predetermined size are prevented from being inserted into thenozzle 4814 beyond a predetermined position (e.g., to prevent objectsfrom being inserted into the fan 4902).

An example of a robotic cleaner, consistent with the present disclosure,may include a body, an agitator chamber defined in the body, a suctionmotor fluidly coupled to the agitator chamber and configured to causeair to flow into the agitator chamber, and at least one air jet assemblycoupled to the body, the air jet assembly being configured to generatean air jet, the air jet being configured to urge debris toward theagitator chamber.

In some instances, the at least one air jet assembly may be fluidlycoupled to an exhaust side of the suction motor. In some instances, theat least one air jet assembly may include a vent configured to generatethe air jet. In some instances, the at least one air jet assembly mayinclude a nozzle configured to generate the air jet. In some instances,the at least one air jet assembly may be coupled to a sidewall of thebody that extends between an underside of the body and an upper surfaceof the body. In some instances, the at least one air jet assembly mayinclude a vent. In some instances, the at least one air jet assembly maybe disposed on an underside of the body. In some instances, the roboticcleaner may further include a plurality of air jet assemblies, whereinat least one air jet assembly has a different configuration than that ofat least one other air jet assembly. In some instances, at least one airjet assembly may include a vent and at least one other air jet assemblymay include a nozzle. In some instances, at least one air jet assemblymay be coupled to a sidewall of the body that extends between anunderside of the body and an upper surface of the body and at least oneother air jet assembly may be coupled to the underside of the body. Insome instances, the at least one air jet assembly may be fluidly coupledto a fan.

Another example of a robotic cleaner, consistent with the presentdisclosure, may include a body, an obstacle detection sensor coupled tothe body, the obstacle detection sensor being configured to detect anobstacle, an agitator chamber defined in the body, a suction motorfluidly coupled to the agitator chamber and configured to cause air toflow into the agitator chamber, and a plurality of air jet assembliescoupled to the body, the plurality of air jet assemblies each beingconfigured to generate an air jet, each air jet being configured to urgedebris toward the agitator chamber.

In some instances, the plurality of air jet assemblies may be configuredto generate a respective air jet based, at least in part, on an outputgenerated by the obstacle detection sensor. In some instances, at leastone air jet assembly may include a vent and at least one other air jetassembly may include a nozzle. In some instances, at least one air jetassembly may be coupled to a sidewall of the body that extends betweenan underside of the body and an upper surface of the body and at leastone other air jet assembly may be coupled to the underside of the body.In some instances, at least one air jet assembly may be fluidly coupledto an exhaust side of the suction motor. In some instances, at least oneair jet assembly may be fluidly coupled to a fan. In some instances, atleast one air jet assembly may include a vent configured to generate theair jet. In some instances, at least one air jet assembly may include anozzle configured to generate the air jet. In some instances, theplurality of air jet assemblies may be positioned along a perimeter ofthe body.

An example of a robotic cleaner, consistent with the present disclosure,may include a body having a top wall, a bottom wall, and a sidewallextending between the top wall and the bottom wall, a suction motor, andat least one air jet assembly configured to encourage generation of avortex between the body, a surface to be cleaned, and a vertical surfaceextending from the surface to be cleaned.

In some instances, the robotic cleaner may further include a wetcleaning assembly. In some instances, the at least one air jet assemblymay include a nozzle having a flow splitter, the flow splitter includesa first flow side and a second flow side, wherein a second surfacelength of the second flow side is greater than a first surface length ofthe first flow side. In some instances, the at least one air jetassembly may include a nozzle that defines a nozzle outlet central axis,the nozzle outlet central axis extending in an outward direction thatextends away from the sidewall of the body, in a forward direction,relative to a direction of forward movement of the robotic cleaner, andin a downward direction that extends toward the bottom wall of the body.In some instances, the at least one air jet assembly may include anozzle that defines a nozzle outlet central axis, the nozzle outletcentral axis extends at: a forward angle that is defined between thenozzle outlet central axis and a front-rear cross axis that extendsparallel to a direction of forward movement of the robotic cleaner and adownward angle that is defined between the nozzle outlet central axisand a horizontal plane that extends between the bottom wall and the topwall. In some instances, the forward angle may be in a range of 30° to60° and the downward angle may be in a range of 15° to 35°. In someinstances, the forward angle may be about 41° and the downward angle maybe about 27°.

Another example of a robotic cleaner, consistent with the presentdisclosure, may include a body having a top wall, a bottom wall, and asidewall extending between the top wall and the bottom wall, a suctionmotor, and at least one air jet assembly, at least a portion of the atleast one air jet assembly being received within a receptacle defined inthe sidewall of the body, the at least one air jet assembly beingconfigured to generate an air jet that extends outwardly from thesidewall of the body.

In some instances, the at least one air jet assembly may be fluidlycoupled to a fan. In some instances, the robotic cleaner may furtherinclude a wet cleaning assembly. In some instances, the at least one airjet assembly may include a nozzle that defines a nozzle outlet centralaxis, the nozzle outlet central axis extending in an outward directionthat extends away from the sidewall of the body, in a forward direction,relative to a direction of forward movement of the robotic cleaner, andin a downward direction that extends toward the bottom wall of the body.In some instances, the at least one air jet assembly may include anozzle that defines a nozzle outlet central axis, the nozzle outletcentral axis extends at: a forward angle that is defined between thenozzle outlet central axis and a front-rear cross axis that extendsparallel to a direction of forward movement of the robotic cleaner and adownward angle that is defined between the nozzle outlet central axisand a horizontal plane that extends between the bottom wall and the topwall. In some instances, the forward angle may be in a range of 30° to60° and the downward angle may be in a range of 15° to 35°. In someinstances, the at least one air jet assembly may include a nozzle havinga flow splitter.

Another example of a robotic cleaner, consistent with the presentdisclosure, may include a body having a top wall, a bottom wall, and asidewall extending between the top wall and the bottom wall, a suctionmotor, and at least one air jet assembly disposed on an assembly axis,the assembly axis extends perpendicular to a direction of forwardmovement of the robotic cleaner and extends along a widest width of thebody that extends in a direction perpendicular to the direction offorward movement, the at least one air jet assembly being configured togenerate an air jet that extends outwardly from the sidewall of thebody.

In some instances, the at least one air jet assembly may be fluidlycoupled to a fan. In some instances, the at least one air jet assemblymay include a nozzle. In some instances, the nozzle may define a nozzleoutlet central axis, the nozzle outlet central axis extending in anoutward direction that extends away from the sidewall of the body, in aforward direction, relative to the direction of forward movement of therobotic cleaner, and in a downward direction that extends toward thebottom wall of the body. In some instances, the nozzle may define anozzle outlet central axis, the nozzle outlet central axis extends at: aforward angle that is defined between the nozzle outlet central axis anda front-rear cross axis that extends parallel to the direction offorward movement of the robotic cleaner and a downward angle that isdefined between the nozzle outlet central axis and a horizontal planethat extends between the bottom wall and the top wall. In someinstances, the forward angle may be in a range of 30° to 60° and thedownward angle may be in a range of 15° to 35°.

While the principles of the invention have been described herein, it isto be understood by those skilled in the art that this description ismade only by way of example and not as a limitation as to the scope ofthe invention. Other embodiments are contemplated within the scope ofthe present invention in addition to the exemplary embodiments shown anddescribed herein. It will be appreciated by a person skilled in the artthat a surface cleaning apparatus may embody any one or more of thefeatures contained herein and that the features may be used in anyparticular combination or sub-combination. Modifications andsubstitutions by one of ordinary skill in the art are considered to bewithin the scope of the present invention, which is not to be limitedexcept by the claims.

What is claimed is:
 1. A robotic cleaner comprising: a body having a topwall, a bottom wall, and a sidewall extending between the top wall andthe bottom wall; a suction motor; and at least one air jet assemblyconfigured to encourage generation of a vortex between the body, asurface to be cleaned, and a vertical surface extending from the surfaceto be cleaned.
 2. The robotic cleaner of claim 1 further comprising awet cleaning assembly.
 3. The robotic cleaner of claim 1, wherein the atleast one air jet assembly includes a nozzle having a flow splitter, theflow splitter includes a first flow side and a second flow side, whereina second surface length of the second flow side is greater than a firstsurface length of the first flow side.
 4. The robotic cleaner of claim1, wherein the at least one air jet assembly includes a nozzle thatdefines a nozzle outlet central axis, the nozzle outlet central axisextending in an outward direction that extends away from the sidewall ofthe body, in a forward direction, relative to a direction of forwardmovement of the robotic cleaner, and in a downward direction thatextends toward the bottom wall of the body.
 5. The robotic cleaner ofclaim 1, wherein the at least one air jet assembly includes a nozzlethat defines a nozzle outlet central axis, the nozzle outlet centralaxis extends at: a forward angle that is defined between the nozzleoutlet central axis and a front-rear cross axis that extends parallel toa direction of forward movement of the robotic cleaner; and a downwardangle that is defined between the nozzle outlet central axis and ahorizontal plane that extends between the bottom wall and the top wall.6. The robotic cleaner of claim 5, wherein the forward angle is in arange of 30° to 60° and the downward angle is in a range of 15° to 35°.7. The robotic cleaner of claim 6, wherein the forward angle is about41° and the downward angle is about 27°.
 8. A robotic cleanercomprising: a body having a top wall, a bottom wall, and a sidewallextending between the top wall and the bottom wall; a suction motor; andat least one air jet assembly, at least a portion of the at least oneair jet assembly being received within a receptacle defined in thesidewall of the body, the at least one air jet assembly being configuredto generate an air jet that extends outwardly from the sidewall of thebody.
 9. The robotic cleaner of claim 8, wherein the at least one airjet assembly is fluidly coupled to a fan.
 10. The robotic cleaner ofclaim 8, further comprising a wet cleaning assembly.
 11. The roboticcleaner of claim 8, wherein the at least one air jet assembly includes anozzle that defines a nozzle outlet central axis, the nozzle outletcentral axis extending in an outward direction that extends away fromthe sidewall of the body, in a forward direction, relative to adirection of forward movement of the robotic cleaner, and in a downwarddirection that extends toward the bottom wall of the body.
 12. Therobotic cleaner of claim 8, wherein the at least one air jet assemblyincludes a nozzle that defines a nozzle outlet central axis, the nozzleoutlet central axis extends at: a forward angle that is defined betweenthe nozzle outlet central axis and a front-rear cross axis that extendsparallel to a direction of forward movement of the robotic cleaner; anda downward angle that is defined between the nozzle outlet central axisand a horizontal plane that extends between the bottom wall and the topwall.
 13. The robotic cleaner of claim 12, wherein the forward angle isin a range of 30° to 60° and the downward angle is in a range of 15° to35°.
 14. The robotic cleaner of claim 8, wherein the at least one airjet assembly includes a nozzle having a flow splitter.
 15. A roboticcleaner comprising: a body having a top wall, a bottom wall, and asidewall extending between the top wall and the bottom wall; a suctionmotor; and at least one air jet assembly disposed on an assembly axis,the assembly axis extends perpendicular to a direction of forwardmovement of the robotic cleaner and extends along a widest width of thebody that extends in a direction perpendicular to the direction offorward movement, the at least one air jet assembly being configured togenerate an air jet that extends outwardly from the sidewall of thebody.
 16. The robotic cleaner of claim 15, wherein the at least one airjet assembly is fluidly coupled to a fan.
 17. The robotic cleaner ofclaim 15, wherein the at least one air jet assembly includes a nozzle.18. The robotic cleaner of claim 17, wherein the nozzle defines a nozzleoutlet central axis, the nozzle outlet central axis extending in anoutward direction that extends away from the sidewall of the body, in aforward direction, relative to the direction of forward movement of therobotic cleaner, and in a downward direction that extends toward thebottom wall of the body.
 19. The robotic cleaner of claim 17, whereinthe nozzle defines a nozzle outlet central axis, the nozzle outletcentral axis extends at: a forward angle that is defined between thenozzle outlet central axis and a front-rear cross axis that extendsparallel to the direction of forward movement of the robotic cleaner;and a downward angle that is defined between the nozzle outlet centralaxis and a horizontal plane that extends between the bottom wall and thetop wall.
 20. The robotic cleaner of claim 19, wherein the forward angleis in a range of 30° to 60° and the downward angle is in a range of 15°to 35°.